Motor control device and generator control device

Abstract

To estimate a fluctuation component of the torque generated at the motor accurately, a motor control device ( 3 ) which controls a motor with a stator having armature winding and a rotor having a permanent magnet is provided to include a torque fluctuation component estimation unit for estimating a torque fluctuation component generated at the motor based on flux-linkage of the armature winding and an armature current that flows the armature winding. The torque fluctuation component estimation unit estimates the torque fluctuation component (T rp ) based on an inner product (F d ·i d +F q ·i q ) of a flux-linkage vector which is a vectorial representation of the flux-linkage and a current vector which is a vectorial representation of the armature current.

1. A motor control device that controls a motor with a stator having armature winding and a rotor having a permanent magnet, comprising:
 a torque fluctuation component estimation unit for estimating a torque fluctuation component generated at the motor based on flux-linkage of the armature winding and an armature current that flows the armature winding; 
 wherein the motor control is performed based on the estimated torque fluctuation component; 
 wherein the torque fluctuation component estimation unit estimates the torque fluctuation component based on an inner product of a flux-linkage vector which is a vectorial representation of the flux-linkage or a vector according to the flux-linkage and a current vector which is a vectorial representation of the armature current, and 
 wherein when a first component and a second component of the flux-linkage vector or the vector according to the flux-linkage are respectively φ 1  and φ 2 , and a first component and a second component of the current vector are respectively i 1  and i 2 , the inner product is φ 1 i 1 +φ 2 i 2 . 
 
     
     
       2. The motor control device of  claim 1 ,
 wherein the inner product is an inner product of the flux-linkage vector and the current vector, and 
 wherein the torque fluctuation component estimation unit estimates the torque fluctuation component based on an amount of inner product change with respect to an amount of magnetic pole position change of the rotor per unit time. 
 
     
     
       3. The motor control device of  claim 1 ,
 wherein the torque fluctuation component estimation unit derives differential information or difference information of the flux-linkage which represents the amount of flux-linkage change with respect to the amount of magnetic pole position change of the rotor per unit time, 
 wherein a vector of the differential information or the difference information is a vector according to the flux-linkage vector; and
 wherein the inner product is an inner product of the vector according to the flux-linkage vector and the current vector. 
 
 
     
     
       4. A motor control device that controls a motor with a stator having armature winding and a rotor having a permanent magnet, comprising:
 a torque fluctuation component estimation unit for estimating a torque fluctuation component generated at the motor based on input electric power to the motor for driving the rotor, rotation speed of the rotor, and an exterior product of a flux-linkage vector which is a vectorial representation of the flux-linkage of the armature winding and a current vector which is a vectorial representation of the armature current that flows the armature winding, 
 wherein the motor control device controls the motor based on the estimated torque fluctuation component, and 
 wherein when a first component and a second component of the flux-linkage vector or the vector according to the flux-linkage are respectively φ 1  and φ 2 , and a first component and a second component of the current vector are respectively i 1  and i 2 , the exterior product is φ 1 i 1 −φ 2 i 2 . 
 
     
     
       5. The motor control device of  claim 4 , wherein the torque fluctuation component estimation unit estimates the torque fluctuation component from a difference between (a) a value obtained by dividing the input electric power by the rotation speed, or a value obtained by dividing the input electric power from which loss electric power including a loss at the armature winding is subtracted by the rotation speed, and (b) a value that is proportional to the exterior product. 
     
     
       6. The motor control device of  claim 1 , wherein the motor control device performs vector control of the motor based on the estimated torque fluctuation component. 
     
     
       7. The motor control device of  claim 4 , wherein the motor control device performs vector control of the motor based on the estimated torque fluctuation component. 
     
     
       8. The motor control device of  claim 6 , further comprising:
 a current detection unit for detecting the armature current by using a current sensor; 
 a torque current component derivation unit for deriving a torque current component of the detected armature current based on the magnetic pole position of the rotor; and 
 a torque/current conversion unit for converting the estimated torque fluctuation component to current information by using a torque constant, 
 wherein the motor control device corrects the derived torque current component by using the current information, and performs the vector control such that the corrected torque current component follows a torque current command value according to a target value for the torque. 
 
     
     
       9. The motor control device of  claim 7 , further comprising:
 a current detection unit for detecting the armature current by using a current sensor; 
 a torque current component derivation unit for deriving a torque current component of the detected armature current based on the magnetic pole position of the rotor; and 
 a torque/current conversion unit for converting the estimated torque fluctuation component to current information by using a torque constant, 
 wherein the motor control device corrects the derived torque current component by using the current information, and performs the vector control such that the corrected torque current component follows a torque current command value according to a target value for the torque. 
 
     
     
       10. A generator control device that controls a generator with a stator having armature winding and a rotor having a permanent magnet, comprising:
 a torque fluctuation component estimation unit for estimating a torque fluctuation component generated at the generator based on flux -linkage of the armature winding and an armature current that flows the armature winding, 
 wherein the generator control device controls the generator based on the estimated torque fluctuation component, 
 wherein the torque fluctuation component estimation unit estimates the torque fluctuation component based on an inner product of a flux-linkage vector which is a vectorial representation of the flux-linkage or a vector according to the flux-linkage and a current vector which is a vectorial representation of the armature current; and 
 wherein when a first component and a second component of the flux-linkage vector or the vector according to the flux-linkage are respectively φ 1  and φ 2 , and a first component and a second component of the current vector are respectively i 1  and i 2 , the inner product is φ 1 i 1 +φ 2 i 2 . 
 
     
     
       11. A generator control device that controls a generator with a stator having armature winding and a rotor having a permanent magnet, comprising:
 a torque fluctuation component estimation unit for estimating a torque fluctuation component generated at the generator based on generated electric power of the generator by the rotation of the rotor, rotation speed of the rotor, and an exterior product of a flux-linkage vector which is a vectorial representation of the flux-linkage of the armature winding and a current vector which is a vectorial representation of the armature current that flows the armature winding, 
 wherein the generator control device controls the generator based on the estimated torque fluctuation component; 
 wherein when a first component and a second component of the flux-linkage vector or the vector according to the flux-linkage are respectively φ 1  and φ 2 , and a first component and a second component of the current vector are respectively i 1  and i 2 , the exterior product is φ 1 i 1 −φ 2 i 2 .